Unmanned-aerial-vehicle automatic landing target detection method based on BRISK detector maximum value response

A technology for autonomous landing and target detection, which is applied to instruments, computer parts, character and pattern recognition, etc.

Active Publication Date: 2015-03-25
NAT UNIV OF DEFENSE TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] During the landing process of the drone, there are problems such as platform movement, shaking, narrow space, and complex and changeable weather conditions. Misguided control at the end of the drone may cause safety accidents such as casualties or equipment damage.

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  • Unmanned-aerial-vehicle automatic landing target detection method based on BRISK detector maximum value response
  • Unmanned-aerial-vehicle automatic landing target detection method based on BRISK detector maximum value response
  • Unmanned-aerial-vehicle automatic landing target detection method based on BRISK detector maximum value response

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[0035] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0036] Such as Image 6 Shown, the UAV autonomous landing target detection method based on BRISK detector maximum value response of the present invention, its steps are:

[0037] (1) Input: UAV flight sequence diagram I, FAST operator parameter N, FAST corner detection threshold δ, scale space layer number n;

[0038] (2) Generate BRISK scale space;

[0039] Read in the num-th UAV flight collection image I num , to convert it into a grayscale image I num_gray ; Generate n-layer scale image c i , image c i by c i-1 Obtained by half sampling; generate n-1 layers of intermediate layer image d i , d 0 from the original image c 0 Perform 1.5 times downsampling, d i by d i-1 Obtained by half-sampling;

[0040] In specific applications, such as figure 1 As shown, the BRISK scale space consists of n layers c i and n intermediate...

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Abstract

The invention discloses an unmanned-aerial-vehicle automatic landing target detection method based on a BRISK detector maximum value response. The unmanned-aerial-vehicle automatic landing target detection method includes the steps of (1) inputting a first unmanned-aerial-vehicle flight sequence chart; (2) generating BRISK scale space, wherein a scale space graph is generated according to images in the first unmanned-aerial-vehicle flight sequence chart; (3) detecting image feature points, wherein the feature points in the visual images are determined by carrying out FAST corner point detection on layers of the BRISK scale space; (4) extracting a stable feature point of a target, wherein the stable feature point of the target is extracted from the image feature points; namely, as for all the feature points, the feature point with the maximum response value is screened, and the coordinate of the image with the feature point with the maximum response value is the unmanned-aerial-vehicle image detection position. The unmanned-aerial-vehicle automatic landing target detection method has the advantages of being good in stability, high in accuracy, high in real-time performance, good in applicability and the like.

Description

technical field [0001] The present invention mainly relates to the field of control of unmanned aerial vehicles, in particular to an autonomous landing target detection of unmanned aerial vehicles based on the maximum value response of the detector of BRISK (BRISK: Binary Robust Invariant Scalable Keypoints, scale-invariant binary description key point detection algorithm) method. Background technique [0002] During the landing process of the UAV, there are problems such as platform movement, shaking, narrow space, and complex and changeable weather conditions. Misguided control at the end of the UAV may cause safety accidents such as casualties or equipment damage. Therefore, how to realize automatic, safe and rapid positioning and guidance is a key issue in determining the cost, frequency and effectiveness of UAV use. The optical-based guidance technology mainly studies how to realize the tracking and positioning of the UAV after entering the recovery area, and guide it ...

Claims

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Application Information

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Patent Type & AuthorityApplications(China)
IPC IPC(8): G06K9/46
CPCG06V10/44
Inventor胡天江潘崇煜马兆伟沈林成朱华勇赵搏欣陈超王祥科尹栋王勋
OwnerNAT UNIV OF DEFENSE TECH